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| Cortex is a computation rack for VisLab humanoid robots. It contains 7 machines: | | Cortex is a server used by VisLab for running simulations (not the ones with the iCub robot). |
| * 1 server that manages startup, shutdown and the file system of the clients;
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| * 6 clients (named <code>cortex1</code>...<code>cortex6</code>) that run user processes.
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| All clients numbered 1 to 5 mount the same file system. Therefore, performing changes in the file system of cortex[1-5] will reflect to all other four clients.
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| The client <code>cortex6</code> is separate for now, because it runs a 64 bit Linux.
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| ''An older version of this article can be found at [[Cortex/Archive]].'' | | ''Old information can be consulted at [[Cortex/Archive]].'' |
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| = Network setup = | | = Specifications = |
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| == Connectivity ==
| | As of 2017, there is one machine (cortex1) with these specs: |
| | | * 8 x [http://ark.intel.com/products/65523/Intel-Core-i7-3770K-Processor-(8M-Cache-up-to-3_90-GHz) i7-3770K] @ 3.50GHz processor |
| Cortex machines are connected to Cortex Switch, that links to VisLab switch with a fiber optic connection of 4Gbit/s.
| | * 16GB of memory (<code>sudo dmidecode --type 17</code> to see RAM speed and type) |
| | | * 112GB SSD drive + 1TB HDD drive |
| == Cortex nodes ==
| | * NVidia [http://www.geforce.com/hardware/desktop-gpus/geforce-gtx-670 GeForce GTX 670] graphics card (CUDA) |
| | | * internal ISR IP address: 10.10.1.1 |
| Cortex server and clients have the following IPs and domain names:
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| * Server: 10.10.1.240, server.visnet
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| * Client 1: 10.10.1.1, cortex1.visnet
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| * Client 2: 10.10.1.2, cortex2.visnet
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| * Client 3: 10.10.1.3, cortex3.visnet | |
| * Client 4: 10.10.1.4, cortex4.visnet
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| * Client 5: 10.10.1.5, cortex5.visnet
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| * Client 6: 10.10.1.6, cortex6.visnet
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| ''For further details, see the [[Vislab#Network]] and the [[VisLab network]] articles.''
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| = Additional setup =
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| == Boot procedure ==
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| The clients boot via the network, using the PXE system. Each machine determines its own identity and asks the server for a kernel image and an initial ram disk. Kernel images and initial ram disks are stored on the server in the <code>/tftpboot/</code> directory. Kernels can be stock kernels, but the initial ram disk must be created in a way that enables booting from the network. This is not as bad as it sounds. It involves invoking the command <code>mkinitramfs</code>.
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| The server decides which kernel and initramdisk to send to each machine based on the information stored in the two files: <code>/tftpboot/pxelinux.cfg/default</code>(for cortexes 1-5) and <code>/tftpboot/pxelinux.cfg/01-00-19-d1-9e-e9-53</code> (for cortex6).
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| The roots and the homes of the users are also stored on the server machine, so they are mounted by each client at boot time.
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| === Mounting of root directory ===
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| We are not sure which mechanism mounts the root filesystem, exactly. Here is the relevant line from <code>/etc/fstab</code>:
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| # <file system> <mount point> <type> <options> <dump> <pass>
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| /dev/nfs / nfs defaults 1 1
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| === Mounting of home directory ===
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| The home directory is mounted via the Upstart system a few seconds after booting. When rebooting the system, it is possible to login while <code>/home</code> is still not mounted. In that case, logout and login in order to load your environment variables correctly.
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| In November 2010, we created a file called <code>/etc/init/mountHome-net.conf</code> containing:
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| description "Mount network filesystems"
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| start on started networking or runlevel 2
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| exec /usr/local/bin/mountHome.sh
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| and <code>/usr/local/bin/mountHome.sh</code> containing:
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| MOUNTED=$(mount | grep home)
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| while [ -z "$MOUNTED" ]
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| do
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| su icub -c 'mount /home' &> /var/tmp/mountHomeUpstartOut.txt
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| MOUNTED=$(mount | grep home)
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| echo $MOUNTED
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| sleep 1
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| done
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| ls /home > /var/tmp/mountHomeUpstartLs.txt
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| runlevel > /var/tmp/mountHomeUpstartRunlevel.txt
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| After a successful mount, we should see something like
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| $ mount | grep home
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| 10.10.1.240:/nfsroot.home on /home type nfs (rw,user=icub,noac,addr=10.10.1.240)
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| If <code>/home</code> is wrongly mounted with the <code>noexec</code> flag, users won't be able to execute binaries located inside it.
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| == Server machine ==
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| The server has:
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| * a boot folder for the clients at <code>/tftpboot/pxelinux.cfg</code>. It contains the files:
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| ** <code>default</code> - default boot file;
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| ** <mac_address> - specific for a machine with the given mac address.
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| * startup scripts for each machine at <code>/nfsroot/app</code>
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| == Client machines ==
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| The clients have:
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| * A superuser account (<code>compurack</code>) to administer system-wide settings (configurations, libraries, etc.)
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| * Normal user accounts. By default, the login script runs the contents of file <code>$HOME/.bash_env</code>, where users can set their environment variables, e.g., <code>export ICUB_ROOT=$HOME/iCub</code>. This works for both interactive shell sessions and non-interactive ones (i.e., commands remotely invoked by <code>yarprun</code>). | |
| * A <code>yarp</code> account to update and install the YARP library. Variable <code>YARP_ROOT</code> is set by default to <code>/home/yarp/yarp2</code> for all users (in <code>/etc/bash.bashrc</code>) <-- change this policy
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| * An <code>icub</code> account with sudo privileges (created with <code>sudo adduser icub admin</code> on 2009-06-30) <-- change this policy
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| == System-wide libraries and repositories ==
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| === YARP ===
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| yarp2 is installed for user icub, similarly to [[iCubBrain server configuration]].
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| For now, we don't use system-wide installation (<code>sudo make install</code>). We could use it again after we verify that a user can easily override global settings.
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| === iCub ===
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| iCub is installed for user icub, similarly to [[iCubBrain server configuration]].
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| For now, we don't use system-wide installation (<code>sudo make install</code>). We could use it again after we verify that a user can easily override global settings.
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| === Other libraries, manually installed ===
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| Please list here the system-wide libraries and applications that were installed by the superuser, especially the ones that do not have a clean 'make install' procedure but were manually installed into <code>/opt</code>:
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| * ARToolKit | |
| * Ipopt-3.5.5-linux-x86_32-gcc4.2.4 | |
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| CMake 2.6 does not come with the version of Ubuntu currently installed, but it is needed by the latest version of yarp, so we installed it via this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive].
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| * cmake 2.6
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| === Other libraries, installed with Ubuntu packages ===
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| These packages were installed with <code>apt-get install</code>
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| libncurses5-dev
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| libace-dev
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| libgsl0-dev
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| libgtk2.0-dev libgtkmm-2.4-dev libglademm-2.4-dev
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| glew-utils libglew1.5-dev
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| libglut-dev
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| OpenCV 1:
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| libcv-dev libhighgui-dev libcvaux-dev
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| == User repositories ==
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| Each user should manage his own yarp2 and iCub repositories. <-- ''then we shouldn't have done sudo make install here :)''
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| We recommend to set your environment variables in a new file, called <code>~/.bash_env</code> and containing:
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| export YARP_ROOT=~/yarp2
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| export YARP_DIR=$YARP_ROOT/build
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| export ICUB_ROOT=~/iCub
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| export ICUB_DIR=$ICUB_ROOT/main/build
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| export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin
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| Refer to the [[RobotCub software]] article for further instructions.
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| = Other configuration =
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| == Subversion ==
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| We have set the following parameter in <code>/etc/subversion/config</code>:
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| store-passwords = no
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| This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)
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| == Network tuning ==
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| sysctl -w net.core.rmem_max=8388608
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| sysctl -w net.core.wmem_max=8388608
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| sysctl -w net.core.rmem_default=65536
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| sysctl -w net.core.wmem_default=65536
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| sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
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| sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
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| sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
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| sysctl -w net.ipv4.route.flush=1
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| == Prompt ($PS1) ==
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| The prompt is set to <code>user@cortex?:pwd$</code> in <code>/etc/bash.bashrc</code>. With those settings, if you log in to Cortex1, the prompt will be <code>user@cortex1:~$</code>.
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| We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt.
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| By default, though, this configuration is overridden in the users' <code>~/.bashrc</code> file, and the prompt is set to <code>user@source</code> regardless of the Cortex machine you log in to.<br>
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| If you want to inhibit this behaviour in <code>~/.bashrc</code> and thus have a prompt like <code>user@cortex?:pwd</code>, just comment these lines in your <code>~/.bashrc</code>:
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| # set a fancy prompt (non-color, unless we know we "want" color)
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| case "$TERM" in
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| xterm-color)
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| PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
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| ;;
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| *)
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| PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
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| ;;
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| esac
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| However, for users created after 2009-05-07, the prompt is already set to <code>user@cortex?:pwd$</code> by default.
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| = Helper commands =
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| * Check the kernel: <code>uname -m</code>
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| * Check the file versions: <code>file</code>
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| * Set bash shell in <code>/etc/passwd</code>
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| * Check disk space: <code>du –sh /home</code>
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| * Check per-user processes: <code>ps -U <user></code>
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| [[Category:Vislab]] | | [[Category:Vislab]] |